* gradient accumulation during warmup in train.py

Context:
`accumulate` is the number of batches/gradients accumulated before calling the next optimizer.step().
During warmup, it is ramped up from 1 to the final value nbs / batch_size. 
Although I have not seen this in other libraries, I like the idea. During warmup, as grads are large, too large steps are more of on issue than gradient noise due to small steps.

The bug:
The condition to perform the opt step is wrong
> if ni % accumulate == 0:
This produces irregular step sizes if `accumulate` is not constant. It becomes relevant when batch_size is small and `accumulate` changes many times during warmup.

This demo also shows the proposed solution, to use a ">=" condition instead:
https://colab.research.google.com/drive/1MA2z2eCXYB_BC5UZqgXueqL_y1Tz_XVq?usp=sharing



Further, I propose not to restrict the number of warmup iterations to >= 1000. If the user changes hyp['warmup_epochs'], this causes unexpected behavior. Also, it makes evolution unstable if this parameter was to be optimized.

* replace last_opt_step tracking by do_step(ni)

* add docstrings

* move down nw

* Update train.py

* revert math import move

Co-authored-by: Glenn Jocher <glenn.jocher@ultralytics.com>